find all IK solutions ur10 moveit

asked 2019-08-26 13:05:56 -0500

Alessio gravatar image

Hi, I'm working at an university project with an UR10. I'm using mainly the Move Group Interface to plan and execute trajectories. I would like to be able to constraint the robot to obtain a final "elbow up" or "elbow down" configuration depending on my needs. Is there a way to do that in moveit?

Alternatively, could be possible to obtain all the IK solutions for a given end-effector pose? As kinematic solver I'm using Track_IK if it is relevant.

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Comments

Are you considering full 6-DOF poses for the EE? The UR10 only has 6-DOF... right? Are you sure there are multiple IK solutions for the problems that you are considering?

jarvisschultz gravatar imagejarvisschultz ( 2019-08-26 18:11:54 -0500 )edit

Hi jarvisschultz. I'm referring to the configurations elbow up/down, wrist up/down and shoulder left/right which lead to an overall 8 possible joint configurations for the same EE pose. Regarding the full 6-DOF poses I think so since I'm specifiyng both translation and rotation of my EE.

Alessio gravatar imageAlessio ( 2019-08-26 19:05:55 -0500 )edit

That makes sense, I was just reminding you that for a 6-DOF EE goal and a 6-DOF arm, there could be zero, one, or more solutions to a given IK problem. I.e. you likely won't always have multiple solutions

jarvisschultz gravatar imagejarvisschultz ( 2019-08-27 10:01:33 -0500 )edit